autoverse-cli 0.28.1__py3-none-any.whl

autoverse_cli-0.28.1.dist-info/METADATA

@@ -0,0 +1,91 @@
+Metadata-Version: 2.4
+Name: autoverse-cli
+Version: 0.28.1
+Summary: The Autoverse CLI
+Author-email: Dan Kamrath <dan.kamrath@autonomalabs.com>
+License: # End-User License Agreement (EULA) of the Autonoma AutoVerse CLI
+        
+        This End-User License Agreement ("EULA") is a legal agreement between you and Autonoma, Inc.
+        
+        ## License Grant
+        
+        Autonoma, Inc. hereby grants you a personal, non-transferable, non-exclusive licence to use the AutoVerse software in accordance with the terms of this EULA agreement.
+        
+        ## Limitation of Liability
+        The software is provided "AS IS", WITHOUT WARRANTY OF ANY KIND, express or implied. In no event shall the authors or copyright holders be liable for any claim, damages or other liability, whether in action of contract, tort or otherwise, arising from, out of or in connection with the software or the use of the software.
+        
+        ### You are NOT permitted to:
+        
+        - Edit, alter, modify, adapt, translate or otherwise change the whole or any part of the Software nor permit the whole or any part of the Software to be combined with or become incorporated in any other software, nor decompile, disassemble or reverse engineer the Software or attempt to do any such things
+        - Reproduce, copy, distribute, resell or otherwise use the Software for any commercial purpose
+        - Allow any third party to use the Software on behalf of or for the benefit of any third party
+        - Use the Software in any way which breaches any applicable local, national or international law
+        use the Software for any purpose that Autonoma, Inc. considers is a breach of this EULA agreement
+        Intellectual Property and Ownership
+        
+        Autonoma, Inc. shall at all times retain ownership of the Software as originally downloaded by you and all subsequent downloads of the Software by you. The Software (and the copyright, and other intellectual property rights of whatever nature in the Software, including any modifications made thereto) are and shall remain the property of Autonoma, Inc.
+        
+        Autonoma, Inc. reserves the right to grant licences to use the Software to third parties.
+        
+        ## Termination
+        
+        This EULA agreement is effective from the date you first use the Software and shall continue until terminated. You may terminate it at any time upon written notice to Autonoma, Inc.
+        
+        It will also terminate immediately if you fail to comply with any term of this EULA agreement. Upon such termination, the licenses granted by this EULA agreement will immediately terminate and you agree to stop all access and use of the Software. The provisions that by their nature continue and survive will survive any termination of this EULA agreement.
+        
+        ## Governing Law
+        
+        This EULA agreement, and any dispute arising out of or in connection with this EULA agreement, shall be governed by and construed in accordance with the laws of the USA.
+Classifier: Programming Language :: Python :: 3
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: boto3
+Requires-Dist: cantools
+Requires-Dist: argcomplete
+Dynamic: license-file
+
+# Autoverse CLI
+
+The new implementation of the Autoverse CLI
+
+## Installation
+
+```bash
+pip install autoverse-cli
+```
+
+## Shell Completion
+
+To enable tab completion for the `avrs` command, run:
+
+```bash
+avrs --install-completion
+```
+
+Then reload your shell:
+
+```bash
+source ~/.bashrc  # or ~/.zshrc, ~/.config/fish/config.fish, etc.
+```
+
+For full details, see [SHELL_COMPLETION.md](SHELL_COMPLETION.md).
+
+### Supported Shells
+
+- Bash
+- Zsh
+- Fish
+- Tcsh
+
+### Quick Usage Examples
+
+```bash
+# List all available commands
+avrs <TAB>
+
+# Complete subcommand arguments
+avrs launcher <TAB>
+avrs restart <TAB>
+```

autoverse_cli-0.28.1.dist-info/RECORD

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autoverse_cli-0.28.1.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (80.9.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

autoverse_cli-0.28.1.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+avrs = avrs.avrs:main

autoverse_cli-0.28.1.dist-info/licenses/LICENSE

@@ -0,0 +1,33 @@
+# End-User License Agreement (EULA) of the Autonoma AutoVerse CLI
+
+This End-User License Agreement ("EULA") is a legal agreement between you and Autonoma, Inc.
+
+## License Grant
+
+Autonoma, Inc. hereby grants you a personal, non-transferable, non-exclusive licence to use the AutoVerse software in accordance with the terms of this EULA agreement.
+
+## Limitation of Liability
+The software is provided "AS IS", WITHOUT WARRANTY OF ANY KIND, express or implied. In no event shall the authors or copyright holders be liable for any claim, damages or other liability, whether in action of contract, tort or otherwise, arising from, out of or in connection with the software or the use of the software.
+
+### You are NOT permitted to:
+
+- Edit, alter, modify, adapt, translate or otherwise change the whole or any part of the Software nor permit the whole or any part of the Software to be combined with or become incorporated in any other software, nor decompile, disassemble or reverse engineer the Software or attempt to do any such things
+- Reproduce, copy, distribute, resell or otherwise use the Software for any commercial purpose
+- Allow any third party to use the Software on behalf of or for the benefit of any third party
+- Use the Software in any way which breaches any applicable local, national or international law
+use the Software for any purpose that Autonoma, Inc. considers is a breach of this EULA agreement
+Intellectual Property and Ownership
+
+Autonoma, Inc. shall at all times retain ownership of the Software as originally downloaded by you and all subsequent downloads of the Software by you. The Software (and the copyright, and other intellectual property rights of whatever nature in the Software, including any modifications made thereto) are and shall remain the property of Autonoma, Inc.
+
+Autonoma, Inc. reserves the right to grant licences to use the Software to third parties.
+
+## Termination
+
+This EULA agreement is effective from the date you first use the Software and shall continue until terminated. You may terminate it at any time upon written notice to Autonoma, Inc.
+
+It will also terminate immediately if you fail to comply with any term of this EULA agreement. Upon such termination, the licenses granted by this EULA agreement will immediately terminate and you agree to stop all access and use of the Software. The provisions that by their nature continue and survive will survive any termination of this EULA agreement.
+
+## Governing Law
+
+This EULA agreement, and any dispute arising out of or in connection with this EULA agreement, shall be governed by and construed in accordance with the laws of the USA.

autoverse_cli-0.28.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+avrs

avrs/app_version.py

@@ -0,0 +1,24 @@
+import http.client
+import json
+
+def get_app_version():
+    return '0.28.1'
+
+def check_app_is_latest():
+    pass
+    # contact API to examine version
+
+    # This is slow, which will make the CLI annoying to use. This means
+    # we need an approach that can try to do this in the background and then
+    # caches somewhere so that the user is notified on the next run
+
+    # api_url = 'zn5boqqk60.execute-api.us-east-1.amazonaws.com'
+
+    # connection = http.client.HTTPSConnection(api_url)
+    # headers = {'Content-type': 'application/json'}
+    # body = json.dumps({'hello': 'hello'}).encode('utf-8')
+    # connection.request('POST', '/test', body, headers)
+    # response = connection.getresponse()
+    # if response.status != 200:
+    #     print('response had status code {}'.format(response))
+    # print('{}'.format(response.read().decode('utf-8')))

avrs/argparse_help.py

@@ -0,0 +1,30 @@
+import argparse
+
+def generate_argparse_docs(parser):
+    """
+    Try to generate a nice markdown with all help from a parser
+    """
+    s = recursive_get_argparse_help(parser, 'avrs', True)
+    #print(s)
+
+    with open('out.txt', 'w', encoding='utf-8') as f:
+        f.write(s)
+
+def recursive_get_argparse_help(parser, parent_name, is_root):
+
+    s = ''
+    if not is_root:
+        s += '\n' + '_' * 72 + '\n\n'
+
+    s += '{}\n'.format(parent_name)
+    s += '{}\n'.format(parser.format_help())
+
+    for action in parser._actions:
+        if isinstance(action, argparse._SubParsersAction):
+            #s += '{}\n'.format(dir(action))
+            #s += '{}\n'.format(action._choices_actions)
+            #for a in action._choices_actions:
+            #   s += '{}\n'.format(a.dest)
+            for subcmd, subpsr in action.choices.items():
+                s += recursive_get_argparse_help(subpsr, parent_name + ' ' + subcmd, False)
+    return s

avrs/avrs.py

@@ -0,0 +1,183 @@
+#!/usr/bin/env python3
+import logging
+import argparse
+import os
+import argcomplete
+
+from argparse import RawDescriptionHelpFormatter
+from argparse import RawTextHelpFormatter
+
+from avrs.app_version import *
+from avrs.cfg import *
+from avrs.launcher import *
+from avrs.can_tool import *
+from avrs.race_cloud import *
+from avrs.argparse_help import *
+from avrs.shell_completion import install_completion, uninstall_completion
+
+from avrs.requests.move_to_landmark import MoveToLandmarkRequest
+from avrs.requests.restart import Restart
+from avrs.requests.reset_to_track import ResetToTrack
+from avrs.requests.teleport import Teleport
+from avrs.requests.npc import Npc
+from avrs.requests.vd import Vd
+from avrs.requests.vehicle_input import AvrsConfigureVehicleInputRequest
+from avrs.requests.log_path import LogPath
+from avrs.requests.demo import AvrsDemoRequest
+from avrs.requests.environment import *
+from avrs.requests.code_booz import *
+from avrs.requests.vehicle_replay import *
+from avrs.requests.scenario_control import *
+from avrs.requests.list_sim_objects import *
+from avrs.requests.fault_injection import *
+from avrs.requests.change_camera import *
+from avrs.requests.toggle_hud import * 
+from avrs.requests.race_control import *
+from avrs.simconfig import *
+from avrs.requests.get_object_config import *
+from avrs.requests.misc import *
+from avrs.requests.spawn_object import *
+from avrs.requests.dump_sim_config import *
+from avrs.requests.get_web_viz_meta import *
+from avrs.requests.leaderboard import AvrsLeaderboardRequest
+
+def get_version():
+    return get_app_version()
+
+def init_logging():
+    max_log_size = 1024 * 512
+    log_path = os.path.join(get_cfg_dir('avrs'), 'avrs.log')
+    verbose_log_path = os.path.join(get_cfg_dir('avrs'), 'avrs_verbose.log')
+
+    if os.path.exists(verbose_log_path) and os.path.getsize(verbose_log_path) > max_log_size:
+            os.remove(verbose_log_path)
+    if os.path.exists(log_path) and os.path.getsize(log_path) > max_log_size:
+        os.remove(log_path)
+
+    logging.basicConfig(filename=verbose_log_path,
+                    filemode='a',
+                    format='%(asctime)s,%(msecs)d %(name)s %(levelname)s %(message)s',
+                    datefmt='%H:%M:%S',
+                    level=logging.DEBUG)
+
+    # When testing, prevent multiple handler additions to global logging objects
+    if 'avrs' in logging.Logger.manager.loggerDict:
+        #self.logger = logging.getLogger('alvs')
+        del logging.Logger.manager.loggerDict['avrs']
+        #return
+    logger = logging.getLogger('avrs')
+    file_handler = logging.FileHandler(log_path)
+    file_handler.setLevel(logging.DEBUG)
+    formatter = logging.Formatter('%(asctime)s | %(levelname)s | %(message)s')
+    file_handler.setFormatter(formatter)
+    console = logging.StreamHandler()
+    console.setLevel(logging.DEBUG)
+    console.setFormatter(formatter)
+    logger.addHandler(file_handler)
+    #logger.addHandler(console)
+
+def main():
+
+    # logging will fail in pipeline
+    try:
+        init_logging()
+    except Exception as e:
+        pass
+
+    parser = argparse.ArgumentParser(
+            prog='avrs', 
+            description='Autoverse CLI',
+            epilog='',
+            formatter_class=RawTextHelpFormatter)
+
+    version_psr = parser.add_argument(
+            '--version', 
+            help='show the cli version', 
+            action='version', 
+            version=get_version())
+
+    parser.add_argument(
+        '--verbose',
+        action='store_true',
+        help='request verbose output')
+
+    parser.add_argument(
+        '--install-completion',
+        action='store_true',
+        help='install shell completion for avrs CLI')
+
+    parser.add_argument(
+        '--uninstall-completion',
+        action='store_true',
+        help='uninstall shell completion for avrs CLI')
+
+    sps = parser.add_subparsers(required=False, help='sub-command help')
+
+    cfg = load_cfg('avrs')
+    check_app_is_latest()
+
+    AvrsLauncher(sps, cfg)
+
+    MoveToLandmarkRequest(sps, cfg)
+    Restart(sps, cfg)
+    ResetToTrack(sps, cfg)
+    Teleport(sps, cfg)
+    #Npc(sps, cfg)
+    AvrsRaceCloud(sps, cfg)
+    Vd(sps, cfg)
+    AvrsConfigureVehicleInputRequest(sps, cfg)
+    LogPath(sps, cfg)
+    AvrsEnvironmentRequests(sps, cfg)
+    AvrsCodeBoozRequest(sps, cfg)
+    AvrsVehicleReplayRequests(sps, cfg)
+    AvrsCanTool(sps, cfg)
+    AvrsSimConfig(sps, cfg)
+    AvrsScenarioRequests(sps, cfg)
+    AvrsListSimObjectsRequest(sps, cfg)
+    AvrsLeaderboardRequest(sps, cfg)
+    AvrsFaultInjectionRequests(sps, cfg)
+    AvrsChangeCameraRequest(sps, cfg)
+    AvrsToggleHudRequest(sps, cfg)
+    AvrsGetObjectConfigRequest(sps, cfg)
+    AvrsGetSimVersionRequest(sps, cfg)
+    AvrsGetSessionIdRequest(sps, cfg)
+    AvrsGetExitSimRequest(sps, cfg)
+    AvrsPingRequest(sps, cfg)
+    AvrsConfigureSimLodRequest(sps, cfg)
+    AvrsSpawnObjectRequest(sps, cfg)
+    AvrsDumpSimConfigRequest(sps, cfg)
+    AvrsRaceControlRequest(sps, cfg)
+    AvrsSetEnvironmentRequest(sps, cfg)
+
+    # new api requests
+    AvrsDescribeSimRestRequest(sps, cfg)
+
+    if os.environ.get('AVRS_CLI_WITH_TESTS', '0') == '1':
+        AvrsGetWebVizMetaRequest(sps, cfg)
+
+    if os.environ.get('AVRS_WITH_DEMO', '0') == '1':
+        AvrsDemoRequest(sps, cfg)
+
+    if os.environ.get('AVRS_GEN_DOCS', '0') == '1':
+        generate_argparse_docs(parser)
+
+    argcomplete.autocomplete(parser)
+    args = parser.parse_args()
+    
+    # Handle completion installation/uninstallation
+    if args.install_completion:
+        install_completion()
+        return
+    
+    if args.uninstall_completion:
+        uninstall_completion()
+        return
+    
+    # Handle subcommands
+    if hasattr(args, 'func'):
+        args.func(args)
+    else:
+        parser.print_help()
+
+if __name__ == '__main__':
+    main()

avrs/can_tool.py

@@ -0,0 +1,192 @@
+from avrs.requests.request import AvrsApiRequest
+import can
+import cantools
+import time
+import os
+import datetime
+
+from avrs.cfg import *
+from avrs.can_tool_util import *
+
+class AvrsCanTool():
+    def __init__(self, parent_parser, cfg):
+        self.cfg = cfg
+        can_tool_parser = parent_parser.add_parser(
+            'can-tool', 
+            help='provides CAN utilities (echo certain signals, etc)\n\n')
+        sps = can_tool_parser.add_subparsers(required=True, help='can-tool options')
+
+        add_dbc_parser = sps.add_parser(
+            'add-dbc', 
+            help='save a dbc file to be used with other commands')
+        add_dbc_parser.add_argument(
+            'dbc_file_path', 
+            help='the path to the dbc file to add')
+        add_dbc_parser.add_argument(
+            '--overwrite-ok',
+            action='store_true',
+            help='is it ok to overwrite an existing file')
+        add_dbc_parser.set_defaults(func=self.add_dbc)
+
+        list_dbc_parser = sps.add_parser(
+            'list-dbc', 
+            help='list the dbc files that are known to avrs')
+        list_dbc_parser.set_defaults(func=self.list_dbc)
+
+        echo_parser = sps.add_parser(
+            'echo', 
+            help='echos CAN messages')
+        echo_parser.add_argument(
+            'can_names',
+            nargs='+',
+            help='the names of the CAN interfaces, eg "vcan0 vcan1" etc')
+        echo_parser.add_argument(
+            '--dbc_names',
+            nargs='+',
+            default='',
+            help='the names or indeces of a cached dbc files or path to existing dbc files to use')
+        echo_parser.add_argument(
+            '--isolate',
+            nargs='+',
+            default='',
+            help='a list of specific signal to echo, ignoring other signals')
+        echo_parser.add_argument(
+            '--duration',
+            type=float,
+            default=1.0,
+            help='the duration to echo can')
+        echo_parser.add_argument(
+            '--rates',
+            action='store_true',
+            help='echo the rates for messages instead of their values')
+        echo_parser.add_argument(
+            '--save-report-as',
+            default='',
+            help='if set along with the "--rates" flag, will save results to a json file')
+        echo_parser.set_defaults(func=self.echo)
+
+        eav_input_parser = sps.add_parser(
+            'send-eav24-input',
+            help='send some simple input (throttle, brake, steer etc) to an eav24 over CAN')
+        eav_input_parser.add_argument(
+            'can_name',
+            help='the name of the CAN interface, eg "vcan0"')
+        eav_input_parser.add_argument(
+            'dbc_name',
+            help='the name or index of a cached dbc file or path to existing dbc file to use')
+        eav_input_parser.add_argument(
+            '--throttle',
+            type=float,
+            default=0.0,
+            help='throttle to send 0 -> 1.0')
+        eav_input_parser.add_argument(
+            '--gear',
+            type=int,
+            default=0,
+            help='gear to send')
+        eav_input_parser.add_argument(
+            '--brake',
+            type=float,
+            default=0.0,
+            help='brake to send 0 -> 1.0')
+        eav_input_parser.add_argument(
+            '--steer',
+            type=float,
+            default=0.0,
+            help='steer to send -24 -> 24')
+        eav_input_parser.add_argument(
+            '--duration',
+            type=float,
+            default=1.0,
+            help='the duration to send the command can')
+        eav_input_parser.set_defaults(func=self.eav_input)
+
+        test_latency_parser = sps.add_parser(
+            'test-eav24-bsu-latency', 
+            help='test the latency in the EAV24 BSU CAN interface by waiting for command ACK')
+        test_latency_parser.add_argument(
+            'can_name',
+            help='the name of the CAN interface, eg "vcan0"')
+        test_latency_parser.add_argument(
+            'dbc_name',
+            help='the name or index of a cached dbc file or path to existing dbc file to use')
+        test_latency_parser.add_argument(
+            '--nsamples',
+            type=int,
+            default=5,
+            help='the number of samples to test')
+        test_latency_parser.add_argument(
+            '--duration',
+            type=float,
+            default=1.0,
+            help='the duration to send each command can to wait for a given ack')
+        test_latency_parser.add_argument(
+            '--send-rate-hz',
+            type=float,
+            default=50,
+            help='the rate in hz to send messages to wait for a given ack')
+        test_latency_parser.add_argument(
+            '--save-report-as',
+            default='',
+            help='if set will save results to a json file with this name')
+
+        test_latency_parser.set_defaults(func=self.test_eav24_latency)
+
+
+    def add_dbc(self, args):
+        ok, status = add_cached_file(
+            'avrs', 'dbc', args.dbc_file_path, args.overwrite_ok)
+        print(status)
+
+    def list_dbc(self, args):
+        files = get_cached_file_list('avrs', 'dbc')
+        s = ''
+        for i in range(len(files)):
+            s += '({}) {} \n'.format(i, files[i])
+        print(s) if len(files) > 0 else print('(empty)')
+
+    def echo(self, args):
+        dbcs = self.get_dbcs(args.dbc_names)
+        print('echoing {} using {} dbcs'.format(args.can_names, len(dbcs)))
+        if len(dbcs) > 0:
+            echo_can(args.can_names, dbcs, args.duration, args.isolate, args.rates, args.save_report_as)
+        else:
+            print('unable to echo can (dbc or can name error)')
+
+    def eav_input(self, args):
+        dbcs = self.get_dbcs([args.dbc_name])
+        if len(dbcs) > 0:
+            send_eav24_can_values(
+                args.can_name, dbcs[0], args.throttle, args.gear, args.brake, args.steer, args.duration)
+        else:
+            print('unable to echo can (dbc or can name error)')
+
+    def test_eav24_latency(self, args):
+        dbcs = self.get_dbcs([args.dbc_name])
+        if len(dbcs) > 0:
+            test_eav24_can_latency(
+                args.can_name, dbcs[0], args.nsamples, args.send_rate_hz, args.duration, args.save_report_as)
+        else:
+            print('unable to echo can (dbc or can name error)')
+
+    def get_dbcs(self, dbc_names):
+        dbcs = []
+        # If default, find all dbcs and return them
+        if dbc_names == '':
+            for d in get_cached_file_list('avrs', 'dbc'):
+                ok, cache_path = get_cached_file('avrs', 'dbc', d)
+                if ok:
+                    dbcs.append(cantools.database.load_file(cache_path))
+                else:
+                    print(cache_path)
+        else:
+            for d in dbc_names:
+                if os.path.isfile(d):
+                    dbc = cantools.database.load_file(d)
+                else:
+                    ok, cache_path = get_cached_file('avrs', 'dbc', d)
+                    if ok:
+                        dbcs.append(cantools.database.load_file(cache_path))
+                    else:
+                        print(cache_path)
+        return dbcs